CN107848525A - Vehicle attitude control device - Google Patents

Vehicle attitude control device Download PDF

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Publication number
CN107848525A
CN107848525A CN201680043689.3A CN201680043689A CN107848525A CN 107848525 A CN107848525 A CN 107848525A CN 201680043689 A CN201680043689 A CN 201680043689A CN 107848525 A CN107848525 A CN 107848525A
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CN
China
Prior art keywords
speed
yaw
mentioned
yaw velocity
control device
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Granted
Application number
CN201680043689.3A
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Chinese (zh)
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CN107848525B (en
Inventor
水贝智洋
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NTN Corp
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NTN Corp
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Publication of CN107848525B publication Critical patent/CN107848525B/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/1819—Propulsion control with control means using analogue circuits, relays or mechanical links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/60—Inputs being a function of ambient conditions
    • F16H59/66—Road conditions, e.g. slope, slippery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/10—Acceleration; Deceleration
    • B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/20—Speed
    • B60G2400/204—Vehicle speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/14—Acceleration
    • B60L2240/16—Acceleration longitudinal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/22—Yaw angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0052—Filtering, filters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—Steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/14—Yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/91—Electric vehicles
    • B60Y2200/912—Electric vehicles with power supply external to vehicle, e.g. trolley buses or trams
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Power Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Theoretical Computer Science (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Hydraulic Control Valves For Brake Systems (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The problem of the present invention is to provide a kind of vehicle attitude control device, wherein, in turning driving, the understeer of the occasion that bend the throttle can be suppressed or the occasion stepped on for peremptorily releasing accelerator pedal or introversion is turned to, make vehicle attitude stable.Target yaw moment is produced according to the deviation of specification yaw velocity and actual yaw velocity, for by the target yaw moment and the vehicle that drives.The detection speed processing mechanism (31) handled according to the gentle mode of the change of speed is set；Limit yaw angular speed arithmetical organ (28), transverse acceleration divided by the processed speed are determined limit yaw angular speed by it；Specification yaw velocity correction mechanism (29), the mechanism foot specification yaw velocity is more than the occasion of above-mentioned limit yaw angular speed, using limit yaw rate correction specification yaw velocity.Target yaw moment arithmetical organ (26) basis is by specification yaw velocity correction mechanism (29) and the specification yaw velocity corrected and the deviation of actual yaw velocity, generation target yaw moment.

Description

Vehicle attitude control device
Related application
Be September in 2015 25 this application claims the applying date, 2015-No. 188000 applications of Application No. JP Patents it is excellent First weigh, by referring to its entirety, quoted as the content for the part for forming the application.
Technical field
The present invention relates to a kind of vehicle attitude control device, the vehicle attitude control device seeks vehicle during turning driving The stabilization of action.
Background technology
In the past, as vehicle attitude control device, people, which know, following types, wherein, according to speed, steering angle Deng various vehicle state quantities obtain target yaw rate, according to the inclined of target yaw rate and actual yaw velocity Difference, produce target yaw moment, will in order to realize the target yaw moment and necessary braking/driving force is put on each wheel, by This, it is ensured that stable vehicle action (such as patent document 1).
But the quantity of state of the moving target in composition vehicle is only the occasion of yaw velocity, has following situations, It is nonlinear limit area in the steering force of tire, if realizing target yaw rate, also increases with vehicle slide angle Add, the action of vehicle is unstable.Thus, in patent document 2, patent document 3, by actual transverse acceleration divided by speed The value of obtained yaw velocity is the upper limit, corrects the target obtained according to the various vehicle state quantities at speed or steering angle etc. Yaw velocity, suppress to slide laterally the excessive increase at angle.
In addition, in the past, it is known that in the turning in vehicle, the occasion stepped on of accelerator pedal is peremptorily released, Produce increased steering introversion (the タ ッ Network イ Application of yaw velocity of vehicle：Tock-in) phenomenon.Turn to introversion phenomenon refer to due to Characteristic that the load of vehicle deceleration moves and tire contacts to earth, the steering force increase of front-wheel, as a result, radius of turn promptly reduces Phenomenon.In addition it is known that the bend the throttle in turning occasion, steering force also with front-wheel reduces, turns to The tendency of deficiency.In any of the above described occasion, because because accelerating operation, the vehicle attitude in turning greatly changes, therefore have The stability for having vehicle is reduced, and the situation of sense of discomfort is caused to driver.
Prior art document
Patent document
Patent document 1：JP speciallys permit No. 3183124 publication
Patent document 2：9-No. 2316 publications of JP Laid-Open
Patent document 2：JP speciallys permit No. 5078484 publication
The content of the invention
The invention problem to be solved
In being given it the gun in turning, the occasion stepped on of accelerator pedal is peremptorily released, in the method for patent document 2,3 In, due to the reduction with speed, the value increase of yaw velocity obtained from actual transverse acceleration divided by speed, with the value For upper limit amendment target yaw rate, therefore target yaw rate also increases.Then, steering introversion can not be suppressed by, which having, causes Yaw velocity increased situation.In addition, in the occasion of the bend the throttle in turning driving, in patent document 2,3 Method in, due to the increase with speed, the value of yaw velocity obtained from actual transverse acceleration divided by speed is reduced, Using the value as upper limit amendment target yaw rate, therefore target yaw rate is also reduced.Then, there is yaw velocity not increase Add, the situation of understeer can not be suppressed.
It is an object of the invention to provide a kind of Servo Control device of vehicle, wherein, it can suppress to step in turning driving The occasion of lower accelerator pedal or the peremptorily understeer of the occasion stepped on of releasing accelerator pedal turn to introversion, make vehicle appearance Gesture is stable.
For solving the technical scheme of problem
Below, in order to be readily appreciated that, with reference to embodiment label and the present invention will be described.
The vehicle attitude control device of the present invention includes：Tentative specification yaw velocity arithmetical organ 25, the tentative specification Yaw velocity arithmetical organ 25 obtains specification yaw velocity according to speed and steering angle；Target yaw moment arithmetical organ 26, the target yaw moment arithmetical organ 26 is according to horizontal and the actual yaw velocity detected and above-mentioned specification by sensor 19 The deviation of pivot angle speed produces target yaw moment；Braking/driving force distributor gear 22, the braking/driving force distributor gear 22 will be in order to Realize the target yaw moment and necessary brake force or driving force effect are on each wheel,
The vehicle attitude control device includes：Detection speed processing mechanism 31, the detection speed processing mechanism 31 is according to logical The mode that the change for the speed crossed Bus- Speed Monitoring mechanism 16 and detected is gentle is handled；Limit yaw angular speed arithmetical organ 28, transverse acceleration divided by speed Jing Guo the processing are determined limit yaw angle by the limit yaw angular speed arithmetical organ 28 Speed；Specification yaw velocity correction mechanism 29, the specification yaw velocity correction mechanism 29 is in above-mentioned specification yaw velocity More than the occasion of above-mentioned limit yaw angular speed, using limit yaw rate correction specification yaw velocity, above-mentioned target is horizontal Put torque arithmetical organ 26 according to by above-mentioned specification yaw velocity correction mechanism 29 and the specification yaw velocity corrected with The deviation of actual yaw velocity, produce target yaw moment.
The program is applied to vehicle attitude control device 24, and the vehicle attitude control device 24 is according to speed or steering angle etc. Various vehicle state quantities, target yaw rate is obtained, according to target yaw rate and the deviation of actual yaw velocity Target yaw moment is produced, will be in order to realize target yaw moment and necessary braking/driving force is put on each wheel.In this occasion, By transverse acceleration divided by the speed handled according to the gentle mode of the change of speed, limit yaw angular speed is determined.Separately Outside, by limit yaw rate correction by speed and steering angle and the specification yaw velocity of computing.Thus, companion can be suppressed With the steering introversion of the urgent releasing stepped on of accelerator pedal during turning driving, accelerator pedal during turning driving is stepped on Understeer, make vehicle attitude stable.Then, by the program, in turning driving, the field that accelerator pedal is stepped on can be suppressed Close, the understeer for stepping on the occasion peremptorily released of accelerator pedal, turn to introversion or vehicle attitude is stable.
Can also in the present invention, including extreme lateral accelerations arithmetical organ 34, the extreme lateral accelerations arithmetical organ 34 using surface friction coefficient estimated value and the product of acceleration of gravity as extreme lateral accelerations, above-mentioned limit yaw angular speed Arithmetical organ 28 is using above-mentioned extreme lateral accelerations as above-mentioned transverse acceleration, for computing.In the occasion of the program, due to According to surface friction coefficient estimated value, limit yaw angular speed is calculated as the producible maximum yaw velocity on road surface, Therefore the rising midway of the actual transverse acceleration at steering initial stage, wraparound is (horizontal in the occasion, the actual transverse acceleration ＜ limit To acceleration), specification yaw velocity is not limited in the situation of smaller value, response does not reduce unnecessarily.If The computing of limit yaw angular speed is only with actual transverse acceleration, then actually laterally accelerating at steering initial stage, wraparound For degree when not rising fully, limit yaw angular speed is small, by specification yaw velocity be unnecessarily limiting less value (= Above-mentioned limit yaw angular speed).As a result, the response with yaw velocity reduces.But by as above-mentioned Extreme lateral accelerations are used like that, the reduction of the response of yaw velocity can be avoided.
Also can in the present invention, above-mentioned limit yaw angular speed arithmetical organ 28 will by lateral acceleration sensor 17 and The transverse acceleration of detection is as above-mentioned transverse acceleration, for computing.In the occasion of the program, it is not necessary to it is required that pavement friction system Number, control can simplify.Particularly, suppress that there is effect in lesser degree of direction in yaw velocity.In addition, with excessively suppression Yaw velocity processed, the danger that response reduces, but can be practical.
Can also in the present invention, in above-mentioned detection process mechanism 31, the side gentle as the change according to above-mentioned speed The processing that formula is carried out, using the gradient limiter of the variable quantity of restricted unit time.If like this, above-mentioned processing uses the gradient Limiter, then increase side and reduction side can be easily set respectively by frequency band, thus, is readily used in increase side and reduction Side, carry out the occasion of different processing.
Also can be as described above, using the occasion of gradient limiter, above-mentioned detection speed processing mechanism 31 is according to above-mentioned The mode that the change of speed is gentle is handled, the leading to the increase direction less than speed by frequency band in the reduction direction of speed The mode for crossing frequency band is set.If like this, the reduction direction of speed is low by frequency band, then it can positively suppress turning driving The increase of limit yaw angular speed, may decrease to the situation up to spinning caused by the accelerated motion for being stops.
Can also be as described above, using the occasion of gradient limiter, above-mentioned detection speed processing mechanism 31, which corresponds to, to be added The limits value of the variable quantity of the unit interval for stepping on variable quantity change speed of the unit interval of speed pedal 14, accelerator pedal are stepped on The slip of amount is bigger, more reduces the value that speed reduces the gradient limits value of side, the increment rate of accelerator pedal depression amount is bigger, more Reduce the value of the gradient limits value of speed increase side.In the occasion of the program, it can positively suppress stepping on accelerator pedal 14 Under, the change of the vehicle attitude for the urgent releasing stepped on, and because not relative road gradient, the speed of brake operating become Change, carry out above-mentioned processing, therefore the danger of sense of discomfort is not caused to driver.
In the present invention, can also form the vehicle 1 of control object for can be controlled in a manner of each wheel 2 is independent brake force and In driving force any one or both vehicle.Brake force and drive can be controlled if such in a manner of each wheel independence The vehicle of power, then The effect of invention more efficiently play.In addition, as brake force can be controlled in a manner of each wheel independence With the vehicle of driving force, have wheel hub electric motor mode four-wheel drive vehicle, still, in addition, or following vehicles, the car Include will such as corresponding respectively to left and right wheels and be arranged at the output of 2 motor on vehicle body via drive shaft etc., respectively Each wheel is passed to, independently controls the mechanism of the driving torque of each wheel；Friction brake is loaded in each wheel, can be independently Control the mechanism of the brake fluid pressure of each wheel.
The arbitrary combination at least two structure disclosed in claims and/or specification and/or accompanying drawing includes In the present invention.Particularly, the arbitrary combination of more than 2 of every claim in claims is also contained in this hair In bright.
Brief description of the drawings
According to the explanation of the preferable form of implementation referring to the drawings below, will become more apparent that ground understands the present invention.It is but real Apply form and accompanying drawing is used for simple diagram and explanation, bel not applied to limit the scope of the present invention.The scope of the present invention is by right Claim determines.In the accompanying drawings, the same part label in multiple accompanying drawings represents same or appropriate section.
Fig. 1 is the conception plans of the electric automobile for the vehicle attitude control device for loading an embodiment of the invention System construction drawing；
Fig. 2 is the control block of an example of the vehicle attitude control device；
Fig. 3 is the control block of another example of the vehicle attitude control device；
Fig. 4 is pass of the rate of change with gradient limits value for representing the accelerator pedal depression amount in the vehicle attitude control device The curve map of system；
Fig. 5 A are each wheel when being suppressed using the right-hand bend understeer of the four-wheel drive vehicle of the vehicle attitude control device Braking/driving force explanation figure；
Fig. 5 B are that each wheel when introversion suppresses is turned to using the right-hand bend of the four-wheel drive vehicle of the vehicle attitude control device Braking/driving force explanation figure；
Fig. 6 A represent to be applicable 4 wheel wheels of the vehicle attitude control device for the occasion limited for the gradient of no speed The curve map of the actual vehicle trials result of the yaw velocity of hub electrically powered motor vehicle；
Fig. 6 B is for there is the occasion that the gradient of speed limits to represent the 4 wheel wheel hubs using the vehicle attitude control device The curve map of the actual vehicle trials result of the yaw velocity of electrically powered motor vehicle.
Fig. 7 is the constructed profile of an example of In-wheel motor drive device.
Embodiment
According to Fig. 1~Fig. 7,1 embodiment of the present invention is illustrated.Fig. 1 represents to load the car of present embodiment Posture control device 24 is loaded into the electric automobile as left and right wheels independent driving type vehicle in controller of vehicle 10 Conception plans, the upside of figure are the front of vehicle.The electric automobile is the automobile that 4 wheels independently drive, wherein, after forming left and right The wheel 2 of the wheel 2 of wheel and the front-wheel of composition left and right is independently driven by forming the motor 4 of driving source.Before composition The wheel 2 of wheel is Steering Wheel.Each motor 4 is formed for example, Fig. 7 In-wheel motor drive device 5, but it is alternatively loading Vehicular in the (not shown in FIG.) of chassis.
In the figure 7, In-wheel motor drive device 5 include as the motor 4 of wheel hub electric motor (IWM), decelerator 6 and Wheel bearing 7, one part or the inside for being wholy set in wheel 2.The rotation of motor 4 is used via decelerator 6 and wheel Bearing 7, pass to wheel 2.The fixed braking for forming friction stopping device 8 in the wheel hub 7a of wheel bearing 7 flange portion Disk 8a, the braking disk 8a integratedly rotate with wheel 2.Motor 4 is embedding magnet type synchronous motor, wherein, turning The inside in sub- 4a iron core portion sets permanent magnet.Stator 4b of the motor 4 on shell 4c is fixed on is with being installed on rotation Between rotor 4a on output shaft 9, radial clearance is set.
For Fig. 1, control system is illustrated.Controller of vehicle by the ECU 11 that is loaded on vehicle 1 with it is relative Each motor 4 and the inverter 11 of multiple (in the present example, be 2) that sets is formed.Knot basic as its ECU 11 Structure, including at least Comprehensive Control mechanism 23, driving force command mechanism 21 and braking/driving force distributor gear 22.Comprehensive Control mechanism 23 For the controlling organization for carrying out the overall Comprehensive Control of automobile, coordinating control.Driving force command mechanism 21 is following mechanisms, the mechanism According to the brake actuator of the detection signal and the grade of brake pedal 15 of the operational ton of the acceleration operating mechanism of the grade of accelerator pedal 14 Operational ton detection signal, produce the instruction of the overall braking/driving force (brake force and driving force) of vehicle, such as torque instruction. Braking/driving force distributor gear 22 refers to driving force according to the setting rule of the steering amount of helmsman 13 based on steering wheel etc. etc. Make the instruction that mechanism 21 is exported be instructed as respective braking/driving force, such as, torque instruction and distribute to the inverse of each motor 4 Become device 12.
It by the DC power conversion of battery (in figure be not shown) is driving for motor 4 that each inverter 12, which is, The mechanism of alternating current, there is the control unit (not shown in FIG.) for controlling the output, according to above-mentioned allocated torque instruction etc. The instruction control of braking/driving force undertake the motor 4 of work.Inverter 12 in the example in the figures, relative left and right 2 One group of motor 4, set respectively in front and rear 1 tableland every time, but front and rear each inverter 12 has in an inversion dress 12 inside is put, respectively the structure of the motor 4 of control left and right.For example in each inverter 12, it is transformed to opening for alternating current The motor 4 for closing the relative left and right of power circuit part (not shown in FIG.) of the gating circuit of element etc. is respectively set respectively, Its control unit is passage time segmentation etc., the structure of the power circuit part of control left and right in 1.Above-mentioned inverter 12 also may be used Instead of as described above, setting the mode of 2, and it is respectively arranged in each motor, sets 4 altogether.
ECU 11 by the microcomputer with processor etc. computer, with by above-mentioned processor and the journey that performs The ROM (read-only storage) and RAM (random access memory) of sequence, coprocessor (Co-Processor) etc. others are each Electronic circuit of kind etc. is formed.ECU 11 and each inverter 12 by CAN (control area network) etc. vehicle communication network and Connection.Vehicle attitude control device 24 is set in the ECU11 in the controller of vehicle 10 with above-mentioned basic structure.Separately Outside, the Bus- Speed Monitoring mechanism 16 of sensor class, lateral acceleration sensor 17, steering angle transducer are provided as in vehicle 1 18 with yaw-rate sensor 19.Steering angle transducer 18 is the sensing at the steering angle of the helmsman 13 of detection steering wheel etc. Device detects the sensor at steering angle according to helm (not shown in FIG.).
Fig. 2 is the control block of vehicle attitude control device 24.Say to overview, vehicle attitude control device 24 is according to car The various vehicle state quantities at speed, steering angle etc. obtain specification yaw velocity, according to specification yaw velocity and actual yaw angle The deviation of speed forms target yaw moment, will be in order to realize the target yaw moment and necessary braking/driving force puts on each wheel On.
The structure basic as its of vehicle attitude control device 24, including tentative specification yaw velocity arithmetical organ 25, Target yaw moment arithmetical organ 26 and braking/driving force distributor gear 22.Above-mentioned braking/driving force distributor gear 22 also can as Fig. 1 that Sample, it is located at outside as the part independently of vehicle attitude control device 24.In fig. 2, above-mentioned tentative specification yaw angle speed Arithmetical organ 25 is spent to obtain the mechanism of specification yaw velocity according to speed and steering angle.Above-mentioned target yaw moment computing By yaw-rate sensor 19 and the actual yaw velocity detected and above-mentioned specification yaw velocity according to mechanism 26 Deviation, produce the mechanism of target yaw moment.Braking/driving force distributor gear 22 is will be in order to realize above-mentioned target yaw moment And the mechanism that necessary brake force or driving force are put on the motor 4 of each wheel 2.
For the vehicle attitude control device 24 of present embodiment, also set up in above-mentioned basic structure at detection speed Mechanism 31, limit yaw angular speed arithmetical organ 28, specification yaw velocity correction mechanism 29 are managed with accelerating change change-over mechanism (du/dt)32.Detection speed processing mechanism 31 is according to gentle and the change of the speed detected by Bus- Speed Monitoring mechanism 16 The mechanism that mode is handled.Detection speed processing mechanism 31 uses gradient limiter in the present embodiment, but can also adopt Use low pass filter.Above-mentioned acceleration pace of change change-over mechanism 32 is the unit interval for obtaining accelerator pedal 14 (reference picture 1) Step on the mechanism of variable quantity.Above-mentioned limit yaw angular speed arithmetical organ 28 be by transverse acceleration divided by by detection speed at Reason mechanism 31 and handle speed and determine the mechanism of limit yaw angular speed.In this occasion, above-mentioned target yaw moment computing Mechanism 26 according to by specification yaw velocity correction mechanism 29 described later and specification yaw velocity and the actual yaw corrected The deviation of angular speed, produce target yaw moment.
Because having a structure in which, by according to the transverse acceleration or the various vehicle shapes at speed, steering angle etc. measured State amount and the specification transverse acceleration that calculates divided by the speed handled according to the gentle mode of the change of speed, determine the limit Yaw velocity, corrected by limit yaw angular speed according to speed and steering angle and the target yaw rate of computing, by This, can suppress the accelerator pedal when steering introversion with the urgent releasing of accelerator pedal during turning driving, turning driving The understeer stepped on, make vehicle attitude stable.
In addition, the occasion of the structure in Fig. 2, above-mentioned limit yaw angular speed arithmetical organ 28 will be passed by transverse acceleration Sensor 17 and detect transverse acceleration be used for computing as above-mentioned transverse acceleration as former state.In the field of such structure Close, it is not necessary to which, it is required that calculating surface friction coefficient, control can simplify.Particularly, suppress by yaw velocity lesser degree of Direction has effect.In addition, there is extra-inhibitory yaw velocity, the danger that response reduces, but can be practical.
Also in the vehicle attitude control device 24 of said structure, as shown in Figure 3 the limit can be set to laterally accelerate Arithmetical organ 34 is spent, in the extreme lateral accelerations arithmetical organ 34, by surface friction coefficient estimated value and acceleration of gravity Product as extreme lateral accelerations, above-mentioned limit yaw angular speed arithmetical organ 28 using above-mentioned extreme lateral accelerations as Above-mentioned transverse acceleration, for computing.Above-mentioned surface friction coefficient estimated value is by surface friction coefficient animal calculating device 33, according to behaviour Rudder angle and speed etc. and obtain.
In the occasion of the program, due to according to surface friction coefficient estimated value, limit yaw angular speed is calculated as at this Generable maximum yaw velocity on road surface, therefore the rising of the actual transverse acceleration at steering initial stage or wraparound midway Specification yaw velocity, is not limited in unnecessarily by (in the occasion, actual transverse acceleration ＜ extreme lateral accelerations) The situation of smaller value, response do not reduce.If the computing of limit yaw angular speed only with actual transverse acceleration, therefore When actual transverse acceleration at steering initial stage or wraparound does not rise fully, limit yaw angular speed is small, by specification yaw Angular speed is unnecessarily limiting in less value (=above-mentioned limit yaw angular speed).As a result, with yaw velocity The situation that response reduces.But by using extreme lateral accelerations as described above, the response of yaw velocity can be avoided The reduction of property.
Above-mentioned detection speed processing mechanism 31 in the present example, enters as according to the changing gentle mode of above-mentioned speed Capable processing, using the gradient limiter of the variable quantity of restricted unit time.If like this, use slope as above-mentioned processing Limiter is spent, then can easily set increase side and reduction side respectively by frequency band, thus, be readily used in increase side and reduction Side carries out the occasion of different processing.
As described above, above-mentioned detection speed processing mechanism 31 is using the occasion of gradient limiter, above-mentioned detection speed Processing mechanism 31 can also be handled according to the gentle mode of the change of above-mentioned speed, and the reduction direction of speed is pressed by frequency band Set according to the degree by frequency band in the increase direction less than speed.If like this, the reduction direction of speed pass through frequency With low, then the increase of limit yaw angular speed, can reduce and reach caused by acceleration when can positively suppress turning driving stops The situation of rotation.
In addition, also can as described above, the occasion in detection speed processing mechanism 31 using gradient limiter, detection speed Degree processing mechanism 31 steps on variable quantity corresponding to the unit interval of accelerator pedal 14 (reference picture 1), when changing the unit of speed Between variable quantity limits value, the slip of accelerator pedal depression amount is bigger, and the size of gradient limits value that speed reduces side is got over Low, the increment rate of accelerator pedal depression amount is bigger, and the size of the gradient limits value of speed increase side is lower.In the field of the program Close, can positively suppress stepping on accelerator pedal 14, the change of the vehicle attitude for the releasing drastically stepped on, and due to With respect to road gradient, speed caused by brake operating changes, and without above-mentioned processing, therefore does not cause sense of discomfort to driver It is dangerous.
Above-mentioned driving force command mechanism 21, braking/driving force distributor gear 22, Comprehensive Control mechanism 23, tentative specification yaw angle Velocity arithmetic mechanism 25, target yaw moment arithmetical organ 26, limit yaw angular speed arithmetical organ 28, specification yaw velocity Correction mechanism 29, detection speed processing mechanism 31, accelerate pace of change change-over mechanism 32, surface friction coefficient animal calculating device 33 and Extreme lateral accelerations arithmetical organ 34 specifically, by by software, hardware and the LUT (inquiry table) that realizes or software The defined transforming function transformation function received in database (Library)；Hardware equivalent with it etc., according further to needs, database (Library) comparison function, arithmetic function in, using hardware equivalent with them etc., carry out computing and knot can be exported Software function on the hardware circuit or processor (not shown in FIG.) of fruit is formed.
The vehicle attitude control device 24 of said structure carries out computing according to following orders.In addition, in the computing, It is accompanied with the supplementary notes of the structure of above-mentioned vehicle attitude control device 24.
(1) according to steering angle δnAnd vehicle velocity V, tentative specification yaw velocity is determined according to auto model (appropriate to determine) rref* it is big.
[mathematical formulae 1]
Herein, Gδ r(0)：Yaw velocity gain constant, ωn：The intrinsic vibration quantity of vehicle, ζ：Attenuation ratio, Tr：Often Number；s：Laplace's operation.
(2) surface friction coefficient inferred value μesProduct with gravity acceleration g is extreme lateral accelerations αylimit.Road surface Coefficient of friction is by surface friction coefficient animal calculating device 33, according to for example, vehicle velocity V, steering angle δn, transverse acceleration αyDeng and calculate.
(3) by above-mentioned detection speed processing mechanism 31, speed is handled according to the change of speed gentle mode, Form VLPF.Occasion in above-mentioned processing using the gradient limitation of the variable quantity of restricted unit time, the gradient limit of speed increase side The suppression for the understeer being formed with when helping accelerator action, when the gradient limitation that speed reduces side helps speed up device and is failure to actuate Steering introversion suppression.Gradient limits value can also correspond to the variable quantity of accelerator pedal depression amount and change.Accelerator pedal is stepped on The slip of lower amount is bigger, and the value that speed reduces the gradient constrained side of side is lower, and the increment rate of accelerator pedal depression amount is bigger, car The value of the gradient constrained side of speed increase side is lower.When the rate of change of accelerator pedal depression amount is less than or equal to threshold value, the gradient is limited The size of value processed is set as sufficiently large value (Fig. 4).In addition, the change of gradient limits value is quick when reducing the size of limits value Ground declines, and when the size of limits value rises, the occasion than its reduction is gentle.
(4) by extreme lateral accelerations αyThe limit or transverse acceleration α measuredyDivided by vehicle velocity VLPF, determine limit horizontal stroke Pivot angle speed.
γlimit=αylimit/VLPFOr γlimit=αy/VLPF
(5) in tentative specification yaw velocity rref* it is more than limit yaw angular speed γrefOccasion：Specification yaw angle speed Degree correction mechanism 29 is limited with the value of limit yaw angular speed, corrects tentative specification yaw velocity.
|rref|≤|rlimit|
(6) target yaw moment arithmetical organ 26 is according to the deviation delta gamma of specification yaw velocity and actual yaw velocity Calculate target yaw moment.In addition, target yaw moment arithmetical organ 26 is according to yaw velocity, yaw velocity deviation, car The information of the vehicle action of speed, transverse acceleration etc., judges ovdersteering state or understeer state.Such as in actual horizontal stroke The absolute value of pivot angle speed is less than the occasion of the absolute value of specification yaw velocity, is determined as understeer.In understeer shape The occasion of state, the braking/driving force command value for being not only applied through accelerator pedal depression amount etc. and determining, and according to formation vehicle The mode of inside target yaw moment is to front and rear wheel hub, additional brake power, to front and rear foreign steamer additional driving force.Thus, can produce Raw inside yaw moment, understeer tendency can be reduced.
Fig. 5 A represent the example of the braking/driving force acted on when the understeer of right-hand bend suppresses on each wheel.Arrow in figure The degree of the different sizes for representing power of the length of head.In this occasion, the yaw moment of right-hand rotation is produced.Herein, sharp The occasion stepped on of accelerator pedal 14 (reference picture 1) is released, the yaw velocity of vehicle inside (right-hand rotation) will increase, and still, lead to Cross and produce the outside yaw moment of vehicle, suppress to turn to introversion (Fig. 5 B).
Description more than, in turning driving, accelerator pedal steps on the occasion sharp released, speed drop It is low, still, due to the speed that is handled by the way of gentle according to the change of speed, calculating limit yaw velocity, therefore The increase of limit yaw angular speed caused by suppressing the reduction of speed, using this value as the upper limit, specification yaw velocity is corrected, by This, also suppresses the increase of specification yaw velocity.Then, the increase of yaw velocity can be suppressed, can suppress to turn to introversion.
In addition, in turning driving, the occasion of bend the throttle, speed increases, but due to using according to speed The speed that is handled of the gentle mode of change calculate limit yaw angular speed, therefore the limit is horizontal caused by suppressing the increase of speed The reduction of pivot angle speed, as the upper limit, specification yaw velocity is corrected, thus, also suppress the reduction of specification yaw velocity. Then, the reduction of yaw velocity can be suppressed, suppress understeer.
The slip of accelerator pedal depression amount is bigger, and the value that speed reduces the gradient limits value of side is lower, and accelerator pedal is stepped on The increment rate of lower amount is bigger, and the value of the gradient limits value of speed increase side is lower, thus, can positively suppress with accelerator pedal Step on, the change of the vehicle attitude for the releasing drastically stepped on, and due to relative road gradient, the speed of brake operating becomes Change, without above-mentioned processing, therefore the problem of do not cause sense of discomfort to driver.
By the way that by band setting the speed reduction side of above-mentioned processing must be increased into the logical of side than the speed of above-mentioned processing Cross that frequency band is low, the increase of limit yaw angular speed, can drop caused by accelerator when can positively suppress turning driving is failure to actuate It is low until spinning danger.
Effect more than, vehicle attitude can be made stable.In addition, with changing in gentle processing in speed, car The slow situation of speed, but due to only carrying out above-mentioned processing to the speed that limit yaw angular speed calculates, therefore do not produce steering Delay.In addition, if the calculating of limit yaw angular speed does not use actual transverse acceleration, and extreme lateral accelerations are used, Then when the characteristic of the steering force of tire is the traveling of linear general regions, the delay of speed is not produced yet.
Fig. 6 A represent the actual vehicle result of the test of the occasion of the above-mentioned processing (gradient limitation) of no speed, Fig. 6 B tables Show the actual vehicle result of the test of the occasion of the above-mentioned processing (gradient limitation) with speed.In test, using shown in Fig. 1 4 wheel wheel hub electric motor cars.In test, in constant circular turning, at utmost to step on accelerator, released after the several seconds Accelerator is stepped on.Now, steering angle keeps certain.As shown in the figure, in the occasion of the aforementioned processing of no speed, After accelerator stopping, yaw velocity sharply increases, and now, specification yaw velocity also increases, and produces and turns to introversion.It is another Aspect, the increase of the yaw velocity after the occasion of the aforementioned processing with speed, accelerator stopping is slightly smaller.In addition, Specification yaw velocity does not increase, and can suppress to turn to introversion, in addition after accelerator action, yaw velocity increase, suppresses Understeer, vehicle attitude are stable.
As more than, according to above-mentioned embodiment, due to being handled by the way of gentle according to the change of speed Speed, calculating limit yaw velocity, therefore in turning driving the occasion of bend the throttle, peremptorily releases and accelerates The occasion stepped on of pedal, suppress the change of specification yaw velocity, suppress understeer, turn to introversion, vehicle attitude is stable. Due to the speed calculated only by limit yaw angular speed, above-mentioned processing is carried out, therefore does not produce the delay of steering, in addition normal During with traveling at region, also without the delay of speed.
In the above example, using the four-wheel drive vehicle of wheel hub electric motor mode, embodiment is illustrated, but It is that, as can respectively take turns the independently vehicle of control brake force or driving force, the control can be additionally used in following vehicles, the vehicle bag Include for example, divide supplementary biography to pass via drive shaft etc. the output for 2 motor for corresponding respectively to left and right wheels and being arranged on vehicle body To each wheel, the mechanism of the driving torque of each wheel is independently controlled；Friction brake is loaded in each wheel, can independently be controlled The mechanism for the brake fluid pressure respectively taken turns.
More than, while referring to the drawings, according to embodiment, the preferable mode for implementing the present invention is carried out Illustrate, still, embodiment of disclosure is particularization in terms of whole, not limited.The scope of the present invention is not By above description, and provided by claims.If those skilled in the art, viewing this specification and Various changes and correcting mode can be readily apparent that in obvious scope.Then, such change and correcting mode are construed to root The mode in the scope of the present invention determined according to claims.
The explanation of label：
Label 1 represents vehicle；
Label 2 represents wheel；
Label 4 represents motor；
Label 5 represents In-wheel motor drive device；
Label 10 represents controller of vehicle；
Label 11 represents ECU；
Label 12 represents inverter；
Label 14 represents accelerator pedal；
Label 15 represents brake pedal；
Label 16 represents Bus- Speed Monitoring mechanism；
Label 17 represents lateral acceleration sensor；
Label 18 represents steering angle transducer；
Label 19 represents yaw-rate sensor；
Label 22 represents braking/driving force distributor gear；
Label 24 represents vehicle attitude control device；
Label 25 represents tentative specification yaw velocity arithmetical organ；
Label 26 represents target yaw moment arithmetical organ；
Label 28 represents limit yaw angular speed arithmetical organ；
Label 29 represents specification yaw velocity correction mechanism；
Label 31 represents detection speed processing mechanism；
Label 32 represents to accelerate pace of change change-over mechanism；
Label 33 represents that surface friction coefficient calculates mechanism；
Label 34 represents extreme lateral accelerations arithmetical organ.

Claims (7)

1. a kind of vehicle attitude control device, the vehicle attitude control device includes：Tentative specification yaw velocity arithmetical organ, The tentative specification yaw velocity arithmetical organ obtains specification yaw velocity according to speed and steering angle；Target yaw moment is transported Mechanism is calculated, the target yaw moment arithmetical organ is according to horizontal and the actual yaw velocity detected and above-mentioned specification by sensor The deviation of pivot angle speed produces target yaw moment；Braking/driving force distributor gear, the braking/driving force distributor gear will be in order to realize The target yaw moment and necessary brake force or driving force effect are on each wheel；
The vehicle attitude control device includes：Detection speed processing mechanism, the detection speed processing mechanism are examined according to by speed The mode that the change for the speed surveyed mechanism and detected is gentle is handled；Limit yaw angular speed arithmetical organ, the limit yaw Transverse acceleration divided by speed Jing Guo the processing are determined limit yaw angular speed by angular speed arithmetical organ；Specification yaw angle Speed correction mechanism, the specification yaw velocity correction mechanism are more than above-mentioned limit yaw angle speed in above-mentioned specification yaw velocity The occasion of degree, using limit yaw rate correction specification yaw velocity,
Above-mentioned target yaw moment arithmetical organ is according to horizontal and the specification corrected by above-mentioned specification yaw velocity correction mechanism The deviation of pivot angle speed and actual yaw velocity, produce target yaw moment.
2. vehicle attitude control device according to claim 1, wherein, including extreme lateral accelerations arithmetical organ, should Extreme lateral accelerations arithmetical organ laterally accelerates the product of surface friction coefficient estimated value and acceleration of gravity as the limit Degree, above-mentioned limit yaw angular speed arithmetical organ is using above-mentioned extreme lateral accelerations as above-mentioned transverse acceleration, for computing.
3. vehicle attitude control device according to claim 1, wherein, above-mentioned limit yaw angular speed arithmetical organ will be logical The transverse acceleration crossed lateral acceleration sensor and detected is as above-mentioned transverse acceleration, for computing.
4. the vehicle attitude control device described in any one in claims 1 to 3, wherein, in above-mentioned detection process In mechanism, the processing that is carried out as the gentle mode of change according to above-mentioned speed, using the variable quantity of restricted unit time Gradient limiter.
5. vehicle attitude control device according to claim 4, wherein, in above-mentioned detection speed processing mechanism, as The processing that the gentle mode of change according to above-mentioned speed is carried out, the reduction direction of speed by frequency band with the increasing less than speed The degree by frequency band in direction is added to set.
6. the vehicle attitude control device according to claim 4 or 5, wherein, above-mentioned detection speed processing mechanism corresponds to The limits value of the variable quantity of the unit interval for stepping on variable quantity change speed of the unit interval of accelerator pedal, accelerator pedal are stepped on The slip of amount is bigger, and the value that speed reduces the gradient limits value of side is lower, and the increment rate of accelerator pedal depression amount is bigger, speed The value for increasing the gradient limits value of side is lower.
7. the vehicle attitude control device described in any one in claim 1~6, wherein, form control object Vehicle be can be controlled in a manner of each wheel independence in brake force and driving force any one or both vehicle.
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